A sliding-mode-based active fault-tolerant control for robust trajectory tracking in quad-rotors under a rotor failure

Romeo Falcón, Héctor Ríos, Alejandro Dzul

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

In this article an active fault-tolerant control (FTC) is developed for the tracking problem in a quad-rotor under the effects of a rotor failure and external disturbances. Such a strategy is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies uniformly bounded and Lipschitz disturbances. The failure scenario is analyzed in order to identify how it affects the dynamics. It is assumed that the failure has been isolated. The FTC design is composed of PID and continuous high-order sliding-modes controllers that allow the yaw angular velocity to remain bounded and the position tracking to be achieved even in the presence of some external disturbances. The closed-loop stability is formally proven. Numerical simulations show the performance of the proposed control strategy.

Original languageEnglish
Pages (from-to)8451-8469
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Volume32
Issue number15
DOIs
StatePublished - Oct 2022

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support from TECNM projects, CONACYT project 225291 and SEP–CONACYT–ANUIES–ECOS NORD Project 315597. The authors also acknowledge the financial support from CONACYT CVU 785635 and Cátedras CONACYT CVU 270504 project 922, respectively.

Funding Information:
information TECNM, CONACYT, Grant/Award Numbers: 225291; 270504; 785635; 922; SEP–CONACYT–ANUIES–ECOS NORD, Grant/Award Number: 315597The authors gratefully acknowledge the financial support from TECNM projects, CONACYT project 225291 and SEP–CONACYT–ANUIES–ECOS NORD Project 315597. The authors also acknowledge the financial support from CONACYT CVU 785635 and Cátedras CONACYT CVU 270504 project 922, respectively.

Publisher Copyright:
© 2022 John Wiley & Sons Ltd.

Keywords

  • fault-tolerant control
  • quad-rotor
  • rotor failure
  • sliding-mode control

Fingerprint

Dive into the research topics of 'A sliding-mode-based active fault-tolerant control for robust trajectory tracking in quad-rotors under a rotor failure'. Together they form a unique fingerprint.

Cite this